version: 66.06
glider: 523
mission: 4
dive: 111
start: 5 6 113 19 32 10
data:
$ID,523
$MISSION,4
$DIVE,111
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-38103.758
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,192612,2107.232,-15758.569,14,1.0,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.6
$GPS2,193154,2107.184,-15758.629,25,0.9,25,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,85.5,27264,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.95,0.000,6,0.000,0.000,28,1974,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.8,13,118,9.43,2.30,0.00,0.000,4,0.232,0.048,2394,545,3397,0,0,0,0,0,0
$GC,335,-0.74,-146.0,51.1,-15.4,55,341,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1970,3399,0,0,0,0,0,0
$GC,664,-0.74,-146.0,94.7,-13.1,106,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1969,3399,0,0,0,0,0,0
$GC,982,-0.74,-146.0,137.5,-12.8,136,986,0.00,2.30,0.00,0.000,4,0.000,0.054,2385,546,3401,0,0,0,0,0,0
$GC,1023,-0.74,-146.0,143.1,-13.7,139,1027,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1966,3401,0,0,0,0,0,0
$GC,1351,-0.74,-146.0,180.8,-12.0,169,1355,0.00,2.28,0.00,0.000,4,0.000,0.053,2376,550,3402,0,0,0,0,0,0
$GC,1470,-0.74,-146.0,196.5,-12.5,179,1475,0.12,2.12,0.00,0.000,6,0.171,0.035,2399,1973,3402,0,0,0,0,0,0
$GC,1787,-0.74,-146.0,231.0,-10.5,195,1791,0.00,2.22,0.00,0.000,4,0.000,0.051,2399,549,3403,0,0,0,0,0,0
$GC,1833,-0.74,-146.0,235.9,-11.1,197,1837,0.00,2.10,0.00,0.000,6,0.000,0.036,2391,1956,3403,0,0,0,0,0,0
$GC,2162,-0.74,-146.0,266.1,-7.0,213,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1956,3403,0,0,0,0,0,0
$GC,2469,-0.74,-146.0,288.9,-8.1,228,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1956,3402,0,0,0,0,0,0
$GC,2797,-0.74,-146.0,317.3,-8.2,239,2801,0.00,2.28,0.00,0.000,4,0.000,0.057,2391,543,3402,0,0,0,0,0,0
$GC,2847,-0.74,-146.0,321.3,-7.5,240,2851,0.00,2.15,0.00,0.000,6,0.000,0.041,2381,1956,3403,0,0,0,0,0,0
$GC,3163,-0.74,-146.0,346.3,-8.1,248,3166,0.00,2.17,0.00,0.000,4,0.000,0.055,2371,3367,3402,0,0,0,0,0,0
$GC,3282,-0.74,-146.0,355.9,-7.6,250,3287,0.12,2.20,0.00,0.000,6,0.152,0.043,2405,1949,3401,0,0,0,0,0,0
$GC,3619,-0.74,-146.0,379.4,-7.1,259,3623,0.00,2.20,0.00,0.000,4,0.000,0.055,2397,3366,3399,0,0,0,0,0,0
$GC,3646,-0.74,-146.0,381.4,-6.4,259,3651,0.00,2.17,0.00,0.000,6,0.000,0.044,2397,1962,3399,0,0,0,0,0,0
$GC,3978,-0.74,-146.0,402.8,-6.3,267,3982,0.00,2.22,0.00,0.000,4,0.000,0.059,2397,541,3396,0,0,0,0,0,0
$GC,4214,-0.74,-146.0,420.1,-7.0,272,4218,0.00,2.15,0.00,0.000,6,0.000,0.044,2387,1962,3394,0,0,0,0,0,0
$GC,4529,-0.74,-146.0,439.5,-6.3,280,4533,0.00,2.17,0.00,0.000,4,0.000,0.058,2377,3367,3392,0,0,0,0,0,0
$GC,4556,-0.74,-146.0,441.7,-7.6,280,4560,0.00,2.17,0.00,0.000,6,0.000,0.044,2377,1951,3393,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4660,-0.17,0.0,450.3,8.8,283,4782,0.62,0.00,118.93,0.791,6,0.122,0.000,2580,1950,2800,0,0,0,0,0,0
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4786,0.74,146.0,454.5,0.0,286,4922,0.85,2.40,125.40,0.761,4,0.077,0.064,2883,569,2202,0,0,0,0,0,0
$GC,4939,0.74,146.0,442.1,12.2,289,4943,0.00,2.25,0.00,0.000,6,0.000,0.040,2883,1970,2200,0,0,0,0,0,0
$GC,5270,0.74,146.0,393.0,14.5,297,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1970,2195,0,0,0,0,0,0
$GC,5595,0.74,146.0,345.8,13.9,305,5599,0.00,2.22,0.00,0.000,4,0.000,0.054,2883,3390,2193,0,0,0,0,0,0
$GC,5644,0.74,146.0,338.8,14.7,306,5649,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1978,2192,0,0,0,0,0,0
$GC,5958,0.74,146.0,299.6,12.9,314,5962,0.00,2.25,0.00,0.000,4,0.000,0.061,2902,564,2190,0,0,0,0,0,0
$GC,6075,0.74,146.0,285.1,13.1,319,6079,0.00,2.17,0.00,0.000,6,0.000,0.041,2902,1981,2190,0,0,0,0,0,0
$GC,6396,0.74,146.0,241.5,13.4,335,6400,0.00,2.17,0.00,0.000,4,0.000,0.054,2901,3382,2189,0,0,0,0,0,0
$GC,6440,0.74,146.0,235.4,13.4,337,6445,0.12,2.22,0.00,0.000,6,0.160,0.046,2877,1964,2188,0,0,0,0,0,0
$GC,6761,0.74,146.0,201.0,9.4,353,6765,0.00,2.20,0.00,0.000,4,0.000,0.059,2886,562,2187,0,0,0,0,0,0
$GC,6857,0.74,146.0,192.4,9.8,361,6861,0.00,2.15,0.00,0.000,6,0.000,0.038,2886,1978,2186,0,0,0,0,0,0
$GC,7184,0.74,146.0,156.2,11.4,391,7188,0.00,2.25,0.00,0.000,4,0.000,0.057,2896,563,2186,0,0,0,0,0,0
$GC,7214,0.74,146.0,152.6,12.1,393,7218,0.00,2.17,0.00,0.000,6,0.000,0.038,2896,1982,2186,0,0,0,0,0,0
$GC,7542,0.74,146.0,114.7,11.8,423,7546,0.00,2.15,0.00,0.000,4,0.000,0.051,2896,3380,2186,0,0,0,0,0,0
$GC,7647,0.74,146.0,101.6,12.9,432,7651,0.00,2.17,0.00,0.000,6,0.000,0.046,2905,1978,2186,0,0,0,0,0,0
$GC,7978,0.74,146.0,63.2,11.7,475,7983,0.00,2.22,0.00,0.000,4,0.000,0.058,2914,561,2185,0,0,0,0,0,0
$GC,8067,0.74,146.0,52.4,12.4,491,8073,0.12,2.15,0.00,0.000,6,0.141,0.037,2878,1977,2185,0,0,0,0,0,0
$GC,8395,0.74,146.0,20.8,10.1,552,8402,0.00,2.17,0.00,0.000,4,0.000,0.051,2878,3378,2186,0,0,0,0,0,0
$GC,8447,0.74,146.0,15.6,10.4,561,8455,0.00,2.20,0.00,0.000,6,0.000,0.038,2886,1967,2186,0,0,0,0,0,0
$STATE,8594,end climb,SURFACE_DEPTH_REACHED
$STATE,8594,begin surface coast
$FINISH,0.4,1.023251
$STATE,8627,end surface coast,CONTROL_FINISHED_OK
$STATE,8627,begin surface
$SM_CCo,8644,69.40,0.459,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,69.40,0.000,0.000,0.459,30,1963,1575,-8.16,0.08,300.24
$IRIDIUM_FIX,2057.14,-15759.05,310702,171742
$TT8_MAMPS,0.028379
$HUMID,62.01
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,24.6,9.440
$10V_AH,10.5,10.328
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.600,79.350,244.325,69.400,0.000,29.261,36.835,138.775,19.250,0.000,25.499,1098.832,5231.079,386.365,1911.358,428.389,0.000,1041.832,0.000,1856.293,0.000,117.245,0.000
$DEVICE_MAMPS,232.401,64.428,790.777,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.872,342.191,1143.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31789,594
$CAP_FILE_SIZE,92916,0
$CFSIZE,260165632,249856000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060513,215834,2107.189,-15757.630,31,0.8,31,9.8